Parallel Robotics

ENS Rennes

S6 (Bachelor, Third year)

Compulsory

9 hours

Sébastien BRIOT

Objectives of the course on Parallel Robotics

This course presents the basics on geometry, kinematics and singularity analysis of parallel robots.

Lecture 1: Introduction (2.5 hours)
- Introduction to the lecture
- Presentation of the lab and of the research team
  - Main research results on parallel robotics
- Introduction to parallel robots
  - Definitions
  - Topologies
  - Redundant robots
  - Advantages / Drawbacks
Lecture 2: Geometric analysis of parallel robots (3 hours)
- Loop-closure equations
- Inverse geometric model
  - General approach
  - Geometrical approach
  - Working modes
  - Exercises
- Forward geometric model
  - General approach
  - Geometrical approach
  - Assembly modes
  - Exercises
  - Numerical solving
- Notions of workspace
  - With elasticity in joints
  - With closed-loops
  - Exercise
Lecture 3: Kinematic analysis of parallel robots (2.5 hours)
- Introduction to first- and second-order kinematic models
- First method for the computation of the kinematic models (based on the derivation of the loop-closure equations)
- Second method for the computation of the kinematic models (based on the screw theory)
  - Definition of a screw
  - Basic recalls on reciprocity of screws
  - Computation of the parallel and serial kinematic Jacobian matrix
  - Physical aspects related to the parallel kinematic Jacobian matrix
  - Exercises
- Notions of singularity
  - Singularities of Type 1, 2 and 3
  - Other types of singularities
  - Notions of Grassmann geometry and Grassmann-Cayley Algebra, and basic results
  - Exercises
Exam (1 hour)